A control unit (230) for controlling at least one torque-generating motion support device (MSD) (220, 250) on a heavy vehicle (100), where the control unit (230) is arranged to: receive a motion request (Ti) indicative of a desired positive longitudinal tire force (Fx) to be generated by the torque-generating MSD (220, 250), obtain an estimated applied torque (TEST) indicative of a current torque generated by the torque-generating MSD (220, 250), and transmit the estimated applied torque (TEST) to a control unit (230) for controlling at least one torque-generating motion support device (220, 250) on a heavy vehicle (100), where the control unit (230) is arranged to: receive a motion request (Ti) indicative of a desired positive longitudinal tire force (Fx) to be generated by the torque-generating MSD (220, 250); determining a target wheel speed ([omega] i) based on the motion request (Ti) and based on the estimated applied torque (TEST), and configuring the torque generation MSD (220, 250) to maintain the target wheel speed ([omega] i), wherein the control unit (230) is arranged to reduce the target wheel speed [omega] i if an increase in the configured wheel speed ([omega] i) results in a reduction in the estimated applied torque (TEST).

    一种用于控制重型车辆(100)上的至少一个扭矩产生运动支撑装置MSD(220、250)的控制单元(230),其中所述控制单元(230)被布置为:接收指示将由所述扭矩产生MSD(220、250)产生的期望的正纵向轮胎力(Fx)的运动请求(Ti),获得指示由所述扭矩产生MSD(220、250)产生的当前扭矩的估计的施加扭矩(TEST),基于所述运动请求(Ti)并且基于所述估计的施加扭矩(TEST)来确定目标车轮速度(ωi),以及配置所述扭矩产生MSD(220、250)以维持所述目标车轮速度(ωi),其中所述控制单元(230)被布置为在配置的车轮速度(ωi)的增加导致所述估计的施加扭矩(TEST)的减小的情况下减小所述目标车轮速度ωi。


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    Title :

    Robust actuator control method for heavy vehicle motion management


    Additional title:

    用于重型车辆运动管理的稳健致动器控制方法


    Contributors:

    Publication date :

    2024-07-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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